diff --git a/Runtime/HumanoidControl/Scripts/Extensions/ArmSensor.cs b/Runtime/HumanoidControl/Scripts/Extensions/ArmSensor.cs
index b8060c7..984328a 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/ArmSensor.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/ArmSensor.cs
@@ -341,8 +341,8 @@ namespace Passer.Humanoid {
             if (handSkeleton == null)
                 return;
 
-            Transform thisBoneTransform = handSkeleton.GetBone(finger, fingerBone);
-            Transform nextBoneTransform = handSkeleton.GetBone(finger, fingerBone + 1);
+            Transform thisBoneTransform = handSkeleton.GetBoneTransform(finger, fingerBone);
+            Transform nextBoneTransform = handSkeleton.GetBoneTransform(finger, fingerBone + 1);
             if (thisBoneTransform == null || nextBoneTransform == null)
                 return;
 
diff --git a/Runtime/HumanoidControl/Scripts/Extensions/BodySkeleton.cs b/Runtime/HumanoidControl/Scripts/Extensions/BodySkeleton.cs
index 799127e..92d7f07 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/BodySkeleton.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/BodySkeleton.cs
@@ -3,46 +3,60 @@ using UnityEngine;
 
 namespace Passer.Tracking {
 
-    public class BodySkeleton : TrackerComponent {
+    /// <summary>
+    /// The representation of a tracked body
+    /// </summary>
+    /// The bone hierarchy will be created below this transform at runtime. 
+    public abstract class BodySkeleton : TrackerComponent {
 
+        /// <summary>
+        /// Determines whether the skeleton should be rendered
+        /// </summary>
         public bool show = false;
 
+        /// <summary>
+        /// The list of tracked bones
+        /// </summary>
         protected List<TrackedBone> bones;
         //protected static Material boneWhite;
 
         #region Start
 
-        protected virtual void InitializeSkeleton() {
+        /// <summary>
+        /// This function is used to intialize the tracked bones.
+        /// </summary>
+        protected abstract void InitializeSkeleton();
 
-        }
+        //        protected TrackedBone AddBone(string name, Transform parent) {
+        //            GameObject boneGO = new GameObject(name);
+        //            boneGO.transform.SetParent(parent, false);
 
-//        protected TrackedBone AddBone(string name, Transform parent) {
-//            GameObject boneGO = new GameObject(name);
-//            boneGO.transform.SetParent(parent, false);
+        //            AddBoneRenderer(boneGO);
 
-//            AddBoneRenderer(boneGO);
+        //            TrackedBone bone = new TrackedBone() {
+        //                transform = boneGO.transform
+        //            };
+        //            return bone;
+        //        }
 
-//            TrackedBone bone = new TrackedBone() {
-//                transform = boneGO.transform
-//            };
-//            return bone;
-//        }
-
-//        protected void AddBoneRenderer(GameObject boneGO) {
-//            LineRenderer boneRenderer = boneGO.AddComponent<LineRenderer>();
-//            boneRenderer.startWidth = 0.01F;
-//            boneRenderer.endWidth = 0.01F;
-//            boneRenderer.useWorldSpace = false;
-//            boneRenderer.SetPosition(0, Vector3.zero);
-//            boneRenderer.SetPosition(1, Vector3.zero);
-//            boneRenderer.generateLightingData = true;
-//            boneRenderer.material = boneWhite;
-//        }
+        //        protected void AddBoneRenderer(GameObject boneGO) {
+        //            LineRenderer boneRenderer = boneGO.AddComponent<LineRenderer>();
+        //            boneRenderer.startWidth = 0.01F;
+        //            boneRenderer.endWidth = 0.01F;
+        //            boneRenderer.useWorldSpace = false;
+        //            boneRenderer.SetPosition(0, Vector3.zero);
+        //            boneRenderer.SetPosition(1, Vector3.zero);
+        //            boneRenderer.generateLightingData = true;
+        //            boneRenderer.material = boneWhite;
+        //        }
 
         #endregion
 
         #region Update
 
+        /// <summary>
+        /// Updates the rendering of the bones
+        /// </summary>
         protected void UpdateSkeletonRender() {
             if (bones == null)
                 return;
@@ -89,6 +103,11 @@ namespace Passer.Tracking {
 
         #endregion Update
 
+        /// <summary>
+        /// Gets the transform of the tracked bone
+        /// </summary>
+        /// <param name="boneId">The requested bone</param>
+        /// <returns>The tracked bone transform or *null* if it does not exist</returns>
         public Transform GetBoneTransform(Humanoid.Tracking.Bone boneId) {
             TrackedBone trackedBone = GetBone(boneId);
             if (trackedBone == null)
@@ -96,6 +115,11 @@ namespace Passer.Tracking {
             return trackedBone.transform;
         }
 
+        /// <summary>
+        /// Gets the tracked bone
+        /// </summary>
+        /// <param name="boneId">The requested bone</param>
+        /// <returns>The tracked bone or *null* if it does not exist</returns>
         public TrackedBone GetBone(Humanoid.Tracking.Bone boneId) {
             if (bones == null)
                 return null;
diff --git a/Runtime/HumanoidControl/Scripts/Extensions/HandSkeleton.cs b/Runtime/HumanoidControl/Scripts/Extensions/HandSkeleton.cs
index 88a7fc1..5c8b1f5 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/HandSkeleton.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/HandSkeleton.cs
@@ -5,14 +5,24 @@ namespace Passer.Tracking {
     using Passer.Humanoid.Tracking;
 
     /// <summary>
-    /// Hand tracking skeleton
+    /// The representation of a tracked hand
     /// </summary>
+    /// The bone hierarchy will be created below this transform at runtime
     public class HandSkeleton : SensorComponent {
 
+        /// <summary>
+        /// True: this is a left hand. Fale: this is a right hand
+        /// </summary>
         public bool isLeft;
 
+        /// <summary>
+        /// Determines whether this skeleton should be rendered
+        /// </summary>
         public new bool show = false;
 
+        /// <summary>
+        /// The list of tracked bones
+        /// </summary>
         protected List<TrackedBone> bones;
         //protected static Material boneWhite;
 
@@ -50,6 +60,9 @@ namespace Passer.Tracking {
 
         #region Start
 
+        /// <summary>
+        /// This function is used to initialize the tracked bones
+        /// </summary>
         protected virtual void InitializeSkeleton() {
             bones = new List<TrackedBone>(new TrackedBone[(int)BoneId.Count]);
 
@@ -104,6 +117,9 @@ namespace Passer.Tracking {
 
         #region Update
 
+        /// <summary>
+        /// Updates the rendering of the bones
+        /// </summary>
         protected void UpdateSkeletonRender() {
             if (bones == null)
                 return;
@@ -158,7 +174,13 @@ namespace Passer.Tracking {
             return this.transform;
         }
 
-        public virtual Transform GetBone(Finger finger, FingerBone fingerBone) {
+        /// <summary>
+        /// Gets the transform of the tracked bone
+        /// </summary>
+        /// <param name="finger">The requested finger</param>
+        /// <param name="fingerBone">The requested bone in the finger</param>
+        /// <returns>The tracked bon transform of *null* if it does not exist</returns>
+        public virtual Transform GetBoneTransform(Finger finger, FingerBone fingerBone) {
             if (bones == null)
                 return null;
 
diff --git a/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHand.cs b/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHand.cs
index e324392..8f3c7bc 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHand.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHand.cs
@@ -190,12 +190,12 @@ namespace Passer.Humanoid {
             if (handSkeleton == null)
                 return;
 
-            Transform thisBoneTransform = handSkeleton.GetBone(finger, fingerBone);
+            Transform thisBoneTransform = handSkeleton.GetBoneTransform(finger, fingerBone);
             if (thisBoneTransform == null) {
                 Debug.Log(finger + " " + fingerBone + " " + thisBoneTransform);
                 return;
             }
-            Transform nextBoneTransform = handSkeleton.GetBone(finger, fingerBone + 1);
+            Transform nextBoneTransform = handSkeleton.GetBoneTransform(finger, fingerBone + 1);
             if (thisBoneTransform == null || nextBoneTransform == null)
                 return;
 
diff --git a/Runtime/HumanoidControl/Scripts/HumanoidControl_Doc.cs b/Runtime/HumanoidControl/Scripts/HumanoidControl_Doc.cs
index c5e0c04..69fba29 100644
--- a/Runtime/HumanoidControl/Scripts/HumanoidControl_Doc.cs
+++ b/Runtime/HumanoidControl/Scripts/HumanoidControl_Doc.cs
@@ -17,7 +17,7 @@
     /// * \ref UnityXRTracker "UnityXR"
     /// * \ref LeapTracker "Leap Motion"
     /// * \ref ViveTrackerDoc "Vive Tracker"
-    /// * \ref PerceptionNeuronTracker "Perception Neuron"
+    /// * \ref NeuronTracker "Perception Neuron"
     ///
     /// Input
     /// -----